#ifndef __A_STAR_H__
#define __A_STAR_H__

#include <mc_path_planner/planner_base.h>
#include <mc_path_planner/graph_planner/node_2d.h>

#include <queue>
#include <unordered_map>
#include <vector>
#include <algorithm>  // for std::reverse
using namespace std;

class AstarPlanner : public PlannerBase {
    public:
        AstarPlanner(boost::shared_ptr<MapBase> map_handler_ptr);
        ~AstarPlanner();

        // 路径规划
        mc_status pathGenerate(Point2i start, Point2i goal, vector<Point2i>& points);

    private:
        
};

#endif